Transmission Power Policies for Energy-Efficient Wireless Control of Nonlinear Systems

We present an emulation-based controller and transmission policy design procedure for nonlinear wireless networked control systems. The objective is to ensure the stability of the closed-loop system, in a stochastic sense, together with given control performance, while minimizing the average power used for communications. The controller is designed by emulation, i.e., ignoring the network, and the transmission power is given by threshold policies. These policies involve waiting a given amount of time since the last successful transmission instant, as well as requiring that the measured wireless channel gain is above a given threshold, before attempting a new transmission. Two power control laws are investigated: 1) a constant power and 2) a power level inversely proportional to the channel gain. We explain how to select the waiting time, the channel threshold, and the power level to minimize the induced average communication power while ensuring the desired control objectives.